车载制导火箭弹起竖间快速传递对准技术研究

Research on fast transfer alignment for vehicular guided rocket in erection

为减少火箭弹发射火力反应时间,提出了一种在火箭弹起竖间的高精度快速对准方法。整个传递对准过程划分为3个阶段,充分利用车载定位定向系统高精度寻北能力,通过在不同阶段,切换使用不同的测量信息构造量测量,避免了安装杆臂对传递对准精度的影响。分析了起竖对准过程中可观测度的变化情况,进行了蒙特卡罗数学仿真,在三轴转台上进行了半实物仿真试验,开展了车载起竖传递对准试验。数学仿真和试验结果均表明,采用该方法方位对准精度可达到车载定位定向系统同等量级精度水平,而水平失准角估计误差优于加速度计决定的极限对准精度。该方法不仅减少了火箭弹发射的准备时间,还降低了火箭弹对惯导系统的指标要求,具有较强的实际工程意义。

In order to reduce the fire response time of rocket launch,a fast transfer alignment method in the erecting process is proposed.The high precision north finding ability of the vehicle positioning and orientation system is utilized.The transfer alignment process is divided into three stages,by switching different measurement information in different time periods to construct measurement vector.The impact of lever arm on alignment error is avoided.The observability degree in the process of transfer alignment is analyzed.Monte Carlo simulation is also conducted,and a semi physical simulation experiment is conducted on a three-axis turntable.The vehicular transfer alignment experiment is conducted.Simulation and experimental results show that the azimuth alignment accuracy using the proposed method can reach the same level of accuracy as that of the vehicle positioning and orientation system,while the horizontal misalignment angle estimation error is better than the limit alignment accuracy determined by the accelerometer.The proposed method can not only reduce the preparation time for launching guided rockets,but also reduce the cost and requirement for the IMU performance,which has a strong practical engineering significance.